# order is:
# Heading
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
-0.000295

# Root(pelvis)
0 0.943719 0
0.999705 0.001812 0.000000 -0.024203
0.085812 0.006683 0.046066
0.020659 0.025804 -0.043029

# pelvis_lowerback
0.999456 -0.008591 -0.000383 0.031834
0.084348 -0.020366 0.074172

# lHip
0.995073 -0.098970 0.000633 -0.005810
0.889784 -0.036860 0.180944

# rHip
0.998479 -0.002838 0.002773 0.054987
0.569180 0.030032 -0.066712

# lowerback_torso
0.999995 -0.002676 0.000476 0.001554
-0.040065 0.001500 0.000981

# lKnee
0.986009 0.166690 0.000000 0.000000
-0.685415 0.000022 0.000004

# rKnee
0.999983 0.005818 -0.000000 0.000000
-1.019084 -0.000031 0.000003

# torso_head
0.999937 0.004552 -0.009214 -0.004602
-0.072454 -0.033109 -0.015390

# lShoulder
0.702761 0.005656 0.005498 -0.711382
-0.070070 0.001655 -0.040434

# rShoulder
0.711961 0.005361 -0.005571 0.702177
-0.067033 0.001650 -0.040399

# lAnkle
0.997092 -0.070354 0.002061 0.029209
-0.207174 -0.019407 -0.136886

# rAnkle
0.999514 -0.004680 -0.000144 -0.030818
0.556648 0.002139 0.223915

# lElbow
1.000000 0.000000 -0.000033 -0.000000
0.000000 -0.015576 -0.000000

# rElbow
1.000000 -0.000000 0.000032 -0.000000
-0.000000 0.015304 -0.000000

# lToeJoint
0.999987 0.005036 0.000000 -0.000000
0.119983 -0.000000 -0.000000

# rToeJoint
1.000000 -0.000067 -0.000000 -0.000000
-0.149168 0.000018 -0.000000

